2R Robotic arm

Objective: The following question is done by using MATLAB software clear all close all clc % inputs l1 = 1 l2 = 0.5 theta1 = linspace(0,90,40); theta2 = linspace(0,90,40); ct=1; for i=1:length(theta1) THETA1=theta1(i); for j=1:length(theta2) THETA2=theta2(j); x0=0 y0=0 x1=l1*cosd(THETA1); y1=l1*sind(THETA1); x2=x1+l2*cosd(THETA2);…